Create an interface for base SNS velocity IK solver

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Create an interface for base SNS velocity IK solver #99

Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

This commit adds an interface that allows SNS Base IK solver to be used as one of SNS IK solver types. SNS_Base type has been defined and position and velocity IK solver tests now include tests for this new type.

chris-smith commented 6 years ago

Mostly wondering about renaming the new class? SNSVelocityBaseIK which inherits from SNSVelocityIK and has a member SnsVelIkBase... I have a hard time figuring out what each does from the names and not getting them mixed up.